参数不确定机械伺服系统的鲁棒非线性摩擦补偿控制

Robust Nonlinear Friction Compensation of Mechanical Servo System with Time Variable Parameters

对含非线性摩擦环节的机械伺服系统 ,提出一种基于Lyapunov方法的鲁棒非线性控制方法 ,通过引入非线性增益和摩擦补偿项 ,来克服参数不确定性和补偿非线性摩擦 ,从而保证跟踪误差渐进收敛 .对转台系统的实验研究 。

A robust nonlinear control design is presented. By introducing the nonlinear gain and friction compensation term, the robust global convergence of the tracking error is proved using Lyapunov′s direct method. Experiment results demonstrate the effectiveness of the proposed algorithm.